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distance_sensor: adapted message to float for distance and adapted the drivers

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Ban Siesta
2015-05-24 14:28:19 +01:00
parent a0011d2163
commit 103d59e9be
4 changed files with 24 additions and 24 deletions
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src/drivers/trone/trone.cpp
+5 -5
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@@ -567,18 +567,18 @@ TRONE::collect()
return ret;
}
uint16_t distance = (val[0] << 8) | val[1];
float si_units = distance * 0.001f; /* mm to m */
uint16_t distance_mm = (val[0] << 8) | val[1];
float distance_m = float(distance_mm) * 1e-3f;
struct distance_sensor_s report;
report.time_boot_ms = hrt_absolute_time();
report.timestamp = hrt_absolute_time();
report.id = 3;
report.type = 0;
report.orientation = 8;
report.current_distance = si_units;
report.current_distance = distance_m;
report.min_distance = get_minimum_distance();
report.max_distance = get_maximum_distance();
report.covariance = 0.0;
report.covariance = 0.0f;
/* publish it, if we are the primary */
if (_distance_sensor_topic >= 0) {